Program Listing for File ros_thread.h

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#ifndef SWRI_CONSOLE_ROS_THREAD_H
#define SWRI_CONSOLE_ROS_THREAD_H

#include <QThread>

#include <rclcpp/rclcpp.hpp>
#include <rcl_interfaces/msg/log.hpp>
#include <QMetaType>

namespace swri_console
{
  class RosThread : public QThread
  {
    Q_OBJECT
  public:
    RosThread(int argc, char** argv);
    /*
     * Shuts down ROS and causes the thread to exit.
     */
    void shutdown();

  Q_SIGNALS:
    void connected(bool);
    void logReceived(rcl_interfaces::msg::Log::ConstSharedPtr msg);
    void spun();

  protected:
    void run() override;

  private:
    void startRos();
    void stopRos();

    rclcpp::QoS getQos();
    void emptyLogQueue(rcl_interfaces::msg::Log::ConstSharedPtr msg);

    bool is_connected_;
    volatile bool is_running_;

    rclcpp::Node::SharedPtr nh_;
    rclcpp::Subscription<rcl_interfaces::msg::Log>::SharedPtr rosout_sub_;
  };
}

#endif //SWRI_CONSOLE_ROS_THREAD_H